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Searching for Grasping Opportunities on Unmodeled 3D Objects

M. Rutishauser and M. Stricker
Proceedings of the British Machine Vision Conference BMVC'95
September 1995


We are investigating the problem of removing 3D objects from a heap without having recourse to object models. As we are relying on geometric information alone, the use of range data is a natural choice. To ensure that we see opposite patches of the object surfaces, we use up to three range views from different directions. These views are triangulated using the data points as vertices. After merging the views, the resulting surface description is segmented into patches which correspond to object parts. We present a novel approach to search for grasping opportunities on a selected part. We allow all combinations of two vertices to be possible contact points for the two finger gripper. Based on evidence accumulation of local features, a quality measure is defined for each of these vertex pairs. A discrete optimization algorithm which is based on Tabu-Search then tries to find several good grasping configurations. Global constraints which are not part of the objective function (e.g. collisions) have to be respected.

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  author = {M. Rutishauser and M. Stricker},
  title = {Searching for Grasping Opportunities on Unmodeled 3D Objects},
  booktitle = {Proceedings of the British Machine Vision Conference BMVC'95},
  year = {1995},
  month = {September},
  pages = {277-286},
  volume = {1},
  keywords = {robot vision, range data, grasping, optimization}